Shadow detection for mobile robots: Features,evaluation, and datasets

ABSTRACT

Shadows have long been a challenging topic for computer vision. This challenge is made even harder when we assume that the camera is moving, as many existing shadow detection techniques require the creation and maintenance of a background model. This article explores the problem of shadow modelling from a moving viewpoint (assumed to be a robotic platform) through comparing shadow-variant and shadow-invariant image features — primarily color, texture and edge-based features. These features are then embedded in a segmentation pipeline that provides predictions on shadow status, using minimal temporal context. We also release a public dataset of shadow-related image sequences, to help other researchers further develop shadow detection methods and to enable benchmarking of techniques.     

Localization,Exploration, and Navigation Based on Qualitative Angle Information

Abstract

Three of the major problems in building autonomous mobile robots are localization, exploration, and navigation. This paper investigates how well different qualitative methods based on angle information, most of them originally invented for representation of spatial knowledge, are suited for addressing these problems. It combines results from discrete and computational geometry with methods from qualitative spatial reasoning, gaining some new insights on the complexity of robot navigation. It turns out that essentially only with panoramas (special roundviews) the qualitative localization problem can be solved in a satisfactory manner. The exploration problem (qualitative map building), remains difficult for all considered approaches.     

Periodic solutions in three-dimensional restricted three-body problem: 2. Loss of symmetry at the 1:1 resonance

Within the framework of the circular restricted three-body problem a family of inverse periodic orbits around the two attracting bodies (the Egorov’s family) and families generated by it at the 1:1, 2:1, and 3:1 resonances for three-dimensional orbits in the Sun-Earth and Earth-Moon systems are considered. Their relationship with families generated by orbits around the libration points L ₁, L ₂ and L ₃ is investigated. One of the families contains periodic solutions that seem promising as possible orbits for the space radio telescope of the Millimetron project.     

Space,Language and Ontology: A Response to Davis

Abstract

Ernest Davis' article “Qualititative Spatial Reasoning in Interpreting Text and Narrative” discusses challenges that the interpretation of natural language appears to raise for the formalization of commonsense spatial reasoning. Davis finds these to be of “surprising logical complexity,” but also “erratic” in that they do not show a logical structuring of the problem space that could guide productive research. In this response I argue that much of the apparent lack of structure Davis laments is due to the very style of formal modeling he pursues. By augmenting logical considerations with substantial input from other disciplines and by adopting a heterogeneous and modular approach to formalization, I suggest that the problem space is by no means as ill-structured as Davis presents it.     

In Memoriam: Herbert L. Pick,Jr. (1930–2012)

ABSTRACT

Fictive motion in language (as in “the ridge went north”) is claimed to reflect the attention focus of the observer on the extension and spatial layout of an entity. This paper investigates fictive motion in alpine narratives, which describe the experience of moving in a very specifically structured space. We examine space properties that are highlighted through fictive motion in this specific context and describe how they go beyond spatial extension. We further report the communicative motivation behind the use of fictive motion, ranging from conveying the sense of place to encoding the full spatial footprint of a motion event.     

Ray Based Diffraction Tomography of the Ionosphere and Laboratory Inhomogeneous Plasma

A new procedure for restoration of the plasma inhomogeneities with improved resolution is suggested. The procedure deals with the double weighted Fourier transform (DWFT) of the observed wavefield in coordinates of both receivers = (x, y) and sources ₀ = (x ₀, y ₀) [1]. Phase increments between the sources and receivers, being found from DWFT representation, can be used for extracting information on small perturbations of the dielectric constant ~(, z) in a way similar to traditional radio tomography. The resulting resolution of the method is close to the diffraction limit = h/D in the horizontal direction and z = (h/D)² in the vertical direction, where h is the height of inhomogeneities and D is the length of the ground-based receiving system.     

A harness for enhanced comfort and loading during treadmill exercise in space

IntroductionLocomotor and some resistance exercises in space require a gravity replacement force in order to allow 1g-like ground reaction forces to be generated. Currently bungee cords, or other loading devices, interface with the crew member through a harness with a waist belt and shoulder straps. Crew members often find the application of the required loads to be uncomfortable, particularly at the hips.MethodsAn experimental harness was built that differed from previous in-flight designs by having a wider, moldable waist belt and contoured shoulder straps with additional padding. Eight subjects ran at 100% body weight (BW) loading for a total duration of 30 min per day on 12 days over a 3-week period in simulated 0-g conditions using horizontal suspension. A 100 mm Visual Analog Scale (VAS)¹ was used to assess harness-related and lower extremity discomfort at the end of each run.ResultsThe overall rating of harness discomfort decreased from 27 mm on the 100 mm scale on day 1 to 10 mm on day 12, with significant decreases recorded for the back and hip regions as well as the overall harness.DiscussionThe experimental harness allows for repeated exposure to 30-minute bouts of 100% BW loaded simulated 0-g running with levels of discomfort less than 30 mm on a VAS scale of 0–100 mm. We believe that the use of such a harness during on-orbit exercise countermeasures may allow exercise to be performed at levels which are more effective in preventing bone and muscle loss.     

Tractable Fragments of Fuzzy Qualitative Algebra

Abstract

In this paper we study the computational complexity of Fuzzy Qualitative Temporal Algebra (QA ^fuz ), a framework that combines qualitative temporal constraints between points and intervals, and allows modelling vagueness and uncertainty. Its tractable fragments can be identified by generalizing the results obtained for crisp Constraint Satisfaction Problems (CSPs) to fuzzy CSPs (FCSPs); to do this, we apply a general methodology based on the notion of α-cut. In particular, the results concerning the tractability of Qualitative Algebra QA, obtained in a recent study by different authors, can be extended to identify the tractable algebras of the fuzzy Qualitative Algebra QA ^fuz in such a way that the obtained set is maximal, namely any maximal tractable fuzzy algebra belongs to this set.     

Shadow play

ABSTRACT

Despite its visibility but in spite of its lack of materiality (or perhaps because of it), shadow has been a rich source of metaphor, both verbal and visual. Figurative extensions to the visual realms have been less explored; here, we present and analyze some figurative uses of shadow in a sample of visual jokes, cartoons, photographs, and paintings for insights into the nuanced senses of the concept. The visual domains allow for rich expressions of meaning not easily expressed in words.     

Computation and Elicitation of Valleyness

Abstract

Existing methods for land surface form characterisation often focus on relatively simple landform element classifications and do not evaluate results with large scale participant experiments. This piece of research takes a semantics-grounded approach to characterising the landform valley. Based on definitions three algorithms to characterise valleys in a fuzzy way are introduced. Comparison of the results to assessments regarding the degree of being in a valley gained from over 800 participants in a questionnaire survey yields significant amounts of explained variance (R ² = 0.35–0.37). Furthermore, accounting for very ambiguously perceived stimuli showing vast low places leads to markedly improved regressions (R ² = 0.45–0.49), weighting of the data with a measure of uncertainty in judgment even more so (R ² = 0.50–0.55).     

Spatio-Temporal Ontologies and Attention

ABSTRACT

This paper presents a new proposal for the design of spatio-temporal ontologies which has its origin in cognitively motivated spatial semantics. It is shown that selective attention not only plays a central role in the characterization of spatial relations but that the representation of attentional aspects also leads to the possibility of defining an ontological upper structure which systematically covers both the spatial and the temporal domain.     

Reasoning about Depth and Motion from an Observer's Viewpoint

ABSTRACT

The goal of this paper is to present a logic-based formalism for representing knowledge about objects in space and their movements, and show how this knowledge could be built up from the viewpoint of an observer immersed in a dynamic world. In this paper space is represented using functions that extract attributes of depth, size and distance from snapshots of the world. These attributes compose a novel spatial reasoning system named Depth Profile Calculus (DPC). Transitions between qualitative relations involving these attributes are represented by an extension of this calculus called Dynamic Depth Profile Calculus (DDPC). We argue that knowledge about objects in the world could be built up via a process of abduction on DDPC relations.     

Context Affects Scale Selection for Proximity Terms

Abstract

Spatial proximity terms, such as near and far, communicate information regarding the distance in which a “located” object can be found with respect to a “reference” object. The present paper investigates whether people take into account the location of an object extraneous to the located object and reference object pair, when setting the scale for proximity language judgements. Across three experiments participants rated the appropriateness of near and far to describe spatial scenes that included a third (distractor) object positioned the same distance as the located object from the reference object, but at varying distances from the located object. The results show that the presence of other spatial relations affects scale setting, resulting in differences in appropriateness ratings for those spatial terms.     

A Formalism Supplementing Cognitive Semantics Based on Mereology

ABSTRACT

This paper is motivated by and aims to supplement Cognitive Semantics. Details of this latter prominent approach within contemporary linguistic research will not be discussed here. Rather, we focus on a formalization of the concept of Gestalt and provide a formal semantics that can be used to interpret a certain formal language (LM ₀) with respect to a universe of structured wholes (Gestalts). Since a great deal of the analyses of linguistic organization that has been provided by Cognitive Semantics since the mid-1970s is based on the concept of Gestalt, the semantics unfolded in the following may be viewed as an attempt to provide a starting point for supplementing the yet informal analyses of Cognitive Semantics by formal models. Since Gestaltists have talked about Gestalts in terms of parts and wholes, it is a natural step to make use of mereological techniques.     

On Embedding a Qualitative Representation in a Two-Dimensional Plane

Abstract

This paper discusses embedding in a two-dimensional plane a symbolic representation for spatial data using the simple objects, points (P), lines (L), circuits (C), and areas (A). We have proposed PLCA as a new framework for a qualitative spatial reasoning. In a PLCA expression, the entire figure is represented in a form in which all the objects are related. We investigate the conditions for two-dimensional realizability of a PLCA expression, and derive the relation that the numbers of objects in a PLCA expression should have. In this process, we use the well-known Euler's formula. We also give an algorithm for drawing the figure of the PLCA expression that satisfies this condition in a two-dimensional plane and prove its correctness. The algorithm generates a quantitative expression from qualitative expression.     

Personal growth following long-duration spaceflight

IntroductionSalutogenesis and posttraumatic growth represent personal growth and improved functioning as a result of experiencing major challenging events. These developments are not simply resilience (a return to a baseline level of well-being), but positive change in such characteristics as self-understanding, relations with others, personal values, and life goals. Space agencies and space psychologists, primarily concerned with deleterious effects and their countermeasures, have not paid much attention to such beneficial long-term aftereffects of spaceflight.PurposeTo document what changes veterans of the Soviet/Russian space program report as a consequence of their experiences.MethodTwenty retired male cosmonauts Mir and/or ISS cosmonauts filled out relevant self-report questionnaires. Results: Although there was little change in the relative rankings of a list of values, the scale showed an overall increase in the rated importance of all personal values, although only the increase in Self-Direction reached statistical significance. Responses to one of two post-space growth questionnaires based on the Post-Traumatic Growth Inventory (PTGI) were compared to the means of two comparison groups: 152 first-time mothers, and 926 respondents who had experienced various forms of trauma. The cosmonauts reported higher scores on the dimension of New Possibilities when compared to the new mothers and the traumatized group, and higher scores on Personal Strength and Overall PTG compared to the latter. Respondents who had spent more than a year in space, and those who flew on both Mir and ISS, were the most likely to report positive change in the domain Appreciation of Life. The other post-space career questionnaire reflected major changes in Perceptions of the Earth and of Space, and increases on a number of other dimensions, including New Possibilities and Changes in Daily Life, with positive scores that significantly exceeded the original report.DiscussionIt appears that cosmonauts do experience various aspects of positive personal growth following their space flights. As long-duration missions are (and will remain) the norm, it is important for the space agencies and the voyagers themselves to develop a better understanding and possible enhancement of this phenomenon.     

The Space within Fisherman's Folly: Playing with a Puzzle in Mereotopology

Abstract

In this paper we propose a spatial ontology for reasoning about holes, rigid objects and a string, taking a classical puzzle as a motivating example. In this ontology the domain is composed of spatial regions whereby a theory about holes is defined over a mereotopological basis. Within this theory we define a data structure, named chain, that facilitates a clear and efficient representation of the puzzle states and its solution.